Safety Critical Control Design of Second-order Nonlinear System and Its Application in Biped Robot

This paper addresses a safety critical control problem for a second-order nonlinear system, and is then applied into a planar biped robotic system. Our design, composed of a tracking controller and a safety controller, is capable of preliminarily guaranteeing the safety of the system and achieving the asymptotic tracking of a dynamic nonlinear reference signal if the reference is safe.